diff --git a/docs/assets/airframes/multicopter/amovlab_f410/amovlabf410_drone_v1.15.4.params b/docs/assets/airframes/multicopter/amovlab_f410/amovlabf410_drone_v1.15.4.params
index 9b55f53e94..dbcc2af067 100644
--- a/docs/assets/airframes/multicopter/amovlab_f410/amovlabf410_drone_v1.15.4.params
+++ b/docs/assets/airframes/multicopter/amovlab_f410/amovlabf410_drone_v1.15.4.params
@@ -322,7 +322,6 @@
 1	1	COM_RC_OVERRIDE	1	6
 1	1	COM_RC_STICK_OV	30.000000000000000000	9
 1	1	COM_SPOOLUP_TIME	1.000000000000000000	9
-1	1	COM_TAKEOFF_ACT	0	6
 1	1	COM_THROW_EN	0	6
 1	1	COM_THROW_SPEED	5.000000000000000000	9
 1	1	COM_VEL_FS_EVH	1.000000000000000000	9
diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp
index 4671480295..efbdc1819f 100644
--- a/src/modules/commander/Commander.cpp
+++ b/src/modules/commander/Commander.cpp
@@ -2138,15 +2138,8 @@ void Commander::checkForMissionUpdate()
 
 			if (_vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_TAKEOFF
 			    || _vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_VTOL_TAKEOFF) {
-				// Transition mode to loiter or auto-mission after takeoff is completed.
-				if ((_param_com_takeoff_act.get() == 1) && auto_mission_available) {
-					_user_mode_intention.change(vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION);
-
-				} else {
-					// Transition to loiter when the takeoff is completed (force into the Loiter, if mode is not executable then failsafe).
-					_user_mode_intention.change(vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER, ModeChangeSource::ModeExecutor, false,
-								    true);
-				}
+				// Transition to loiter when the takeoff is completed (force into the Loiter, if mode is not executable then failsafe).
+				_user_mode_intention.change(vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER, ModeChangeSource::ModeExecutor, false, true);
 
 			} else if (_vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION) {
 				// Transition to loiter when the mission is cleared and/or finished, and we are still in mission mode.
diff --git a/src/modules/commander/Commander.hpp b/src/modules/commander/Commander.hpp
index fec5aefaab..bfaa12b20f 100644
--- a/src/modules/commander/Commander.hpp
+++ b/src/modules/commander/Commander.hpp
@@ -347,7 +347,6 @@ private:
 		(ParamInt<px4::params::COM_RC_OVERRIDE>)    _param_com_rc_override,
 		(ParamFloat<px4::params::COM_SPOOLUP_TIME>) _param_com_spoolup_time,
 		(ParamInt<px4::params::COM_FLIGHT_UUID>)    _param_com_flight_uuid,
-		(ParamInt<px4::params::COM_TAKEOFF_ACT>)    _param_com_takeoff_act,
 		(ParamFloat<px4::params::COM_CPU_MAX>)      _param_com_cpu_max,
 		(ParamBool<px4::params::COM_ARM_ON_BOOT>)   _param_com_arm_on_boot,
 		(ParamInt<px4::params::COM_ARM_TRAFF>)      _param_com_arm_traff
diff --git a/src/modules/commander/commander_params.yaml b/src/modules/commander/commander_params.yaml
index 3ff1251fa1..392e4eabf1 100644
--- a/src/modules/commander/commander_params.yaml
+++ b/src/modules/commander/commander_params.yaml
@@ -391,15 +391,6 @@ parameters:
       default: 0
       volatile: true
       min: 0
-    COM_TAKEOFF_ACT:
-      description:
-        short: Action after TAKEOFF has been accepted
-        long: The mode transition after TAKEOFF has completed successfully.
-      type: enum
-      values:
-        0: Hold
-        1: Mission (if valid)
-      default: 0
     NAV_DLL_ACT:
       description:
         short: Set GCS connection loss failsafe mode